38 lines
757 B
C++
38 lines
757 B
C++
/// © MiroZ 2024
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#include "TaskFactory.h"
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TaskFactory::TaskFactory()
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{
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#ifdef USE_MUTEX
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m_xMutex = xSemaphoreCreateMutex();
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assert(m_xMutex);
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#endif
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}
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TaskFactory::~TaskFactory()
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{
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#ifdef USE_MUTEX
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if(m_xMutex != NULL)
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vSemaphoreDelete(m_xMutex);
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#endif
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}
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TaskHandle_t TaskFactory::createTask(TASK_FUNCTION task_function, const char *name, uint32_t stack_size, UBaseType_t priority, BaseType_t core)
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{
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TaskHandle_t task_handle = nullptr;
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#ifdef USE_MUTEX
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if (xSemaphoreTake(m_xMutex, portMAX_DELAY))
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{
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#endif
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m_task_function = task_function;
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xTaskCreatePinnedToCore(taskStarter, name, stack_size, this, priority, &task_handle, core);
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#ifdef USE_MUTEX
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xSemaphoreGive(m_xMutex);
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}
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#endif
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return task_handle;
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}
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TaskFactory TASK_FACTORY; |